Team4388/2026KPopRobotHunters
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Robot should be ready

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This commit is contained in:
Michael Mikovsky
2026-02-09 17:18:54 -08:00
parent d90bddac0f
commit 51d2b80ea0
14 changed files with 183 additions and 95 deletions
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src/main/java/frc4388/robot/subsystems/shooter/ShooterConstants.java
+26 -14
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@@ -11,6 +11,7 @@ import com.ctre.phoenix6.signals.NeutralModeValue;
import edu.wpi.first.units.measure.Angle;
import edu.wpi.first.units.measure.AngularVelocity;
import frc4388.utility.configurable.ConfigurableDouble;
import frc4388.utility.status.CanDevice;
public class ShooterConstants {
@@ -20,16 +21,20 @@ public class ShooterConstants {
public static final double SHOOTERMOTOR1_GEAR_RATIO = 1.;
public static final double SHOOTERMOTOR2_GEAR_RATIO = 1.;
public static final double INDEXER_GEAR_RATIO = 1.;
public static final AngularVelocity SHOOTER_RESTING_VELOCITY = RotationsPerSecond.of(0.0);
public static final AngularVelocity SHOOTER_ACTIVE_VELOCITY = RotationsPerSecond.of(-15);
public static final AngularVelocity SHOOTER_INACTIVE_VELOCITY = RotationsPerSecond.of(0.0);
public static final AngularVelocity INDEXER_ACTIVE_VELOCITY = RotationsPerSecond.of(0);
public static final AngularVelocity INDEXER_INACTIVE_VELOCITY = RotationsPerSecond.of(0.0);
// public static final AngularVelocity SHOOTER_ACTIVE_VELOCITY = RotationsPerSecond.of(30);
// public static final AngularVelocity SHOOTER_RESTING_VELOCITY = RotationsPerSecond.of(15);
// public static final AngularVelocity SHOOTER_INACTIVE_VELOCITY = RotationsPerSecond.of(0.0);
// public static final AngularVelocity INDEXER_ACTIVE_VELOCITY = RotationsPerSecond.of(10);
// public static final AngularVelocity INDEXER_INACTIVE_VELOCITY = RotationsPerSecond.of(0.0);
public static final ConfigurableDouble SHOOTER_ACTIVE_VELOCITY = new ConfigurableDouble("Shooter Active Velocity", 30);
public static final ConfigurableDouble SHOOTER_RESTING_VELOCITY = new ConfigurableDouble("Shooter Resting Velocity", 15);
public static final ConfigurableDouble SHOOTER_INACTIVE_VELOCITY = new ConfigurableDouble("Shooter Inactive Velocity", 0);
public static final ConfigurableDouble INDEXER_ACTIVE_VELOCITY = new ConfigurableDouble("Shooter Active Velocity", 10);
public static final ConfigurableDouble INDEXER_INACTIVE_VELOCITY = new ConfigurableDouble("Shooter Inactive Velocity", 0);
public static Slot0Configs SHOOTER_PID = new Slot0Configs()
.withKV(0.0)
@@ -37,6 +42,12 @@ public class ShooterConstants {
.withKI(0.0)
.withKD(0.0);
public static Slot0Configs INDEXER_PID = new Slot0Configs()
.withKV(0.0)
.withKP(0.0)
.withKI(0.0)
.withKD(0.0);
// Limits
// 0 is the forward angle on the robot.
@@ -45,8 +56,8 @@ public class ShooterConstants {
// public static final Angle ANGLE_LIMIT_RIGHT = Degrees.of(180);
// 0 is paralell to the ground, 90 is directly up
public static final Angle PITCH_LIMIT_UPPER = Degrees.of(90);
public static final Angle PITCH_LIMIT_LOWER = Degrees.of(0);
// public static final Angle PITCH_LIMIT_UPPER = Degrees.of(90);
// public static final Angle PITCH_LIMIT_LOWER = Degrees.of(0);
// Motor configs
// public static final TalonFXConfiguration ANGLE_MOTOR_CONFIG = new TalonFXConfiguration()
@@ -61,10 +72,10 @@ public class ShooterConstants {
// );
public static final CanDevice SHOOTER1_ID = new CanDevice("SHOOTER 1", 22);
public static final CanDevice SHOOTER2_ID = new CanDevice("SHOOTER 2", 23);
public static final CanDevice INDEXER_ID = new CanDevice("INDEXER",24);
public static final CanDevice SHOOTER1_ID = new CanDevice("SHOOTER 1", 22);
public static final CanDevice SHOOTER2_ID = new CanDevice("SHOOTER 2", 23);
public static final CanDevice INDEXER_ID = new CanDevice("INDEXER",24);
public static final TalonFXConfiguration SHOOTER1_MOTOR_CONFIG = new TalonFXConfiguration()
.withCurrentLimits(
@@ -73,7 +84,7 @@ public class ShooterConstants {
.withStatorCurrentLimitEnable(true)
).withMotorOutput(
new MotorOutputConfigs()
.withNeutralMode(NeutralModeValue.Brake) // Must be break because this has to be accurate
.withNeutralMode(NeutralModeValue.Coast) // Must be coast because this is spinny spinny
.withDutyCycleNeutralDeadband(0.04) // TODO: Figure out what this means
);
public static final TalonFXConfiguration SHOOTER2_MOTOR_CONFIG = new TalonFXConfiguration()
@@ -86,6 +97,7 @@ public class ShooterConstants {
.withNeutralMode(NeutralModeValue.Coast) // Must be coast because this is spinny spinny
.withDutyCycleNeutralDeadband(0.04) // TODO: Figure out what this means
);
public static final TalonFXConfiguration INDEXER_MOTOR_CONFIG = new TalonFXConfiguration()
.withCurrentLimits(
new CurrentLimitsConfigs()